#pragma once

#define _USE_MATH_DEFINES

#include "Point.h"
#include <string>
#include <vector>
#include <math.h>
#include <stdio.h>
#include <iostream>

using namespace std;

class Kinematics
{
private:
	float d0, d1, a2, d4;

public:
	Kinematics(void);
	Kinematics(float d0, float d1, float a2, float d4);
	~Kinematics(void);
	Point direct(vector<float> joints);
	vector<float> inverse(Point p);
	vector<float> Kinematics::error(std::string message);
};